WO2013143439A1 - Method for controlling rotation rate of electric motor - Google Patents
Method for controlling rotation rate of electric motor Download PDFInfo
- Publication number
- WO2013143439A1 WO2013143439A1 PCT/CN2013/073189 CN2013073189W WO2013143439A1 WO 2013143439 A1 WO2013143439 A1 WO 2013143439A1 CN 2013073189 W CN2013073189 W CN 2013073189W WO 2013143439 A1 WO2013143439 A1 WO 2013143439A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- rotation rate
- electric motor
- axis current
- current
- actual
- Prior art date
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0021—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using different modes of control depending on a parameter, e.g. the speed
Definitions
- the present disclosure relates to an electric motor control field, and more particularly to a method for controlling a rotation rate of an electric motor.
- a rotation rate of an electric motor (such as a synchronous electric motor without position sensor) is controlled by adjusting a proportional integral (PI) of the rotation rate.
- PI proportional integral
- the rotation rate may vary according to a normal variation of a load, thus ensuring a correct output of a torque.
- the variation of the load or a variation of the rotation rate is relatively large, it will lead to a low response or a large fluctuation of the rotation rate by only using the PI adjustment.
- the present disclosure is aimed to solve at least one of the defects. Accordingly, a method for controlling a rotation rate of an electric motor is provided.
- the method for controlling the rotation rate of the electric motor comprises following steps: judging whether an absolute value of a difference between an objective rotation rate of the electric motor and an actual rotation rate of the electric motor is greater than or equal to a predetermined value; and if yes, compensating a q axis current of the electric motor to adjust the rotation rate.
- the predetermined value ranges from lOOr/min to 300r/min.
- I q I q ; and compensating a torque by compensating the q axis current of the electric motor to adjust the rotation rate, where K is a coefficient, I q is an actual output of the q axis current, I q is a given output of the q axis current, and A n is a difference between an average of an actual rotation rate during current N cycles and an average of an actual rotation rate during N cycles before the current N cycles, N > 1.
- I q I q ; and compensating a torque by compensating the q axis current of the electric motor to adjust the rotation rate, where K is a coefficient, I q is an actual output of the q axis current, I q is a given output of the q axis current, and A n is a difference between an average of an actual rotation rate during current N cycles and an average of an actual rotation rate during N cycles before the current N cycles, N > 1.
- N ranges from 32 to 128.
- K ranges from 0.05 to 0.2.
- the method further comprises: if the absolute value of the difference between the objective rotation rate and the actual rotation rate is less than the predetermined value, using a proportional integral method to adjust the rotation rate.
- Fig. 1 is a flow chart of a method for controlling a rotation rate of an electric motor according to a first embodiment of the present disclosure
- Fig. 2 is a flow chart of a method for controlling a rotation rate of an electric motor according to a second embodiment of the present disclosure.
- a method for controlling a rotation rate of an electric motor is provided by an embodiment of the present disclosure.
- the method comprises following steps.
- step SI it is judged that whether an absolute value of a difference between an objective rotation rate of the electric motor and an actual rotation rate of the electric motor is greater than or equal to a predetermined value.
- step S2 if yes, a q axis current I q of the electric motor is compensated to adjust the rotation rate. It is found that there is a relationship between a torque of the electric motor and the q axis current I q of the electric motor, which may be represented by a formula. However, the relationship may be different for different types of electric motors, that is, there are different formulas. Therefore, controlling I q is equivalent to controlling the torque, and the rotation rate is controlled accordingly. Thus, a compensation of the rotation rate may be realized by a compensation of I q .
- step S2 the q axis current I q may be compensated according to
- K is a coefficient
- I q is an actual value of the q axis current
- I q is a given value of the q axis current
- a n is a difference between an average of an actual rotation rate during current N cycles and an average of an actual rotation rate during N cycles before the current N cycles, N > 1.
- the current N cycles refer to N cycles starting with a current cycle (denoted as M2N) and backtracking to an ⁇ + ⁇ ⁇ cycle
- the N cycles before the current N cycles refer to N cycles starting with an ⁇ ⁇ cycle and backtracking to an ⁇ ⁇ cycle.
- the N cycles before the current N cycles refer to [ ⁇ 4 > Mi ] , where M128 is the current cycle.
- N should be selected properly, because a too large N may lead to a hysteresis and offer no compensation effect, while a too small N may lead to a poor precision.
- N may range from 32 to 128.
- N 64.
- K may range from 0.05 to 0.2.
- the predetermined value should be selected properly, because a too large predetermined value may not meet a requirement of rapid response, while a too small predetermined value may lead to a fluctuation.
- the predetermined value may range from 100 r/min to 300 r/min.
- the predetermined value takes 200 r/min.
- Fig. 1 is a flow chart of a method for controlling the rotation rate of the electric motor according to a first embodiment of the present disclosure. As shown in Fig. 1, the method comprises following steps.
- step 11 it is judged whether an absolute value of a difference ( ⁇ ) between an objective rotation rate of the electric motor and an actual rotation rate of the electric motor is greater than or equal to 200 r/min.
- step 12 if yes, a q axis current I q of the electric motor is compensated to adjust the rotation rate (for example, to realize a rapid response of the rotation rate), and the process is terminated.
- step 13 if no, a PI adjusting method is used to adjust the rotation rate.
- the PI adjustment may refer to any method in prior art for performing a PI adjustment on the rotation rate.
- a specific PI adjusting method is shown as follows. This PI adjusting method may comprises following steps.
- step Al a difference err(k) between the objective rotation rate and the actual rotation rate at a current time is calculated.
- Kp is a proportional coefficient
- Ki is an integral coefficient
- Out(k) is an actual rotation rate at the current time
- Out(k-l) is an actual rotation rate at a previous time.
- Kp is a proportional coefficient
- Ki an integral coefficient
- Out(k) is an actual rotation rate at the current time
- Out(k-l) is an actual rotation rate at a previous time.
- Kp is a proportional coefficient
- Ki an integral coefficient
- Out(k) is an actual rotation rate at the current time
- Out(k-l) is an actual rotation rate at a previous time.
- Kp and Ki may be set according to practical requirement.
- Kp is mainly used for generating a direct proportion to the difference so as to rapidly reduce the difference.
- Ki an integral
- Kp and Ki may be selected by giving preference to proportion. Firstly, Ki is given a value of zero; secondly, the objective rotation rate is modified (for example, make the objective rotation rate change greatly); thirdly, different Kps are tried to choose one Kp with which the actual rotation rate may rapidly fluctuate around the objective rotation rate; fourthly, Ki is used. It should be noted that, Ki does not need to be too large, and because the integral acts on a time axis, an integration period needs to be selected. When the actual rotation rate may rapidly fluctuate around the objective rotation rate and a fluctuation value is relatively small, the current Kp and Ki may be considered qualified.
- Fig. 2 is a flow chart of a method for controlling the rotation rate of the electric motor according to a second embodiment of the present disclosure. As shown in Fig. 2, the method comprises following steps.
- step 21 it is judged that whether an absolute value of a difference ( ⁇ ) between an objective rotation rate of the electric motor and an actual rotation rate of the electric motor is greater than or equal to 200 r/min. If yes, step 22 or step 23 is performed; and otherwise, step 28 is performed.
- step 22 if the difference between the objective rotation rate and the actual rotation rate is greater than or equal to 200 r/min, step 24 is performed.
- step 23 if the difference between the actual rotation rate and the objective rotation rate is greater than or equal to 200 r/min, step 25 is performed.
- step 24 it is judged whether ⁇ ⁇ ⁇ 0; if yes, step 26 is performed, and otherwise step 27 is performed.
- step 25 it is judged whether ⁇ ⁇ > 0; if yes, step 26 is performed, and otherwise step 27 is performed.
- step 28 a PI adjusting method is used to adjust the rotation rate.
- K is a coefficient
- I q ' is an actual output of the q axis current
- I q is a given output of the q axis current
- ⁇ n is a difference between an average of an actual rotation rate during current N cycles and an average of an actual rotation rate during N cycles before the current N cycles, N > 1.
- This embodiment shows an improved technical solution based on the first embodiment.
- a step of judging ⁇ ⁇ ⁇ 0 or ⁇ ⁇ > 0 is included, which is for preventing an incorrect instruction resulted from a program fault.
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
A method for controlling a rotation rate of an electric motor is provided. The method comprises following steps: judging whether an absolute value of a difference between an objective rotation rate of the electric motor and an actual rotation rate of the electric motor is greater than or equal to a predetermined value; and if yes, compensating a q axis current of the electric motor to adjust the rotation rate.
Description
METHOD FOR CONTROLLING ROTATION RATE OF ELECTRIC MOTOR
CROSS-REFERENCE TO RELATED APPLICATION
This application claims priority to and benefits of Chinese Patent Application Serial No. 201210083802.4, filed with the State Intellectual Property Office of P. R. China on March. 27, 2012, the entire contents of which are incorporated herein by reference.
FIELD
The present disclosure relates to an electric motor control field, and more particularly to a method for controlling a rotation rate of an electric motor.
BACKGROUND
Conventionally, a rotation rate of an electric motor (such as a synchronous electric motor without position sensor) is controlled by adjusting a proportional integral (PI) of the rotation rate. By using this method, the rotation rate may vary according to a normal variation of a load, thus ensuring a correct output of a torque. However, when the variation of the load or a variation of the rotation rate is relatively large, it will lead to a low response or a large fluctuation of the rotation rate by only using the PI adjustment.
SUMMARY
The present disclosure is aimed to solve at least one of the defects. Accordingly, a method for controlling a rotation rate of an electric motor is provided.
The method for controlling the rotation rate of the electric motor comprises following steps: judging whether an absolute value of a difference between an objective rotation rate of the electric motor and an actual rotation rate of the electric motor is greater than or equal to a predetermined value; and if yes, compensating a q axis current of the electric motor to adjust the rotation rate.
In one embodiment, the predetermined value ranges from lOOr/min to 300r/min.
In one embodiment, compensating a q axis current of the electric motor to adjust the rotation rate comprises: compensating a q axis current of the electric motor according to Iq = Iq-K * A n, where K is a coefficient, Iq is an actual value of the q axis current, Iq is a given value of the q axis current, and A n is a difference between an average of an actual rotation rate during current N
cycles and an average of an actual rotation rate during N cycles before the current N cycles, N > 1; and compensating a torque by compensating the q axis current of the electric motor to adjust the rotation rate.
In one embodiment, if yes, compensating a q axis current of the electric motor to adjust the rotation rate comprises: if the difference between the objective rotation rate and the actual rotation rate is greater than or equal to the predetermined value, judging whether A n < 0; if yes, Iq = Iq-K
* A n and otherwise Iq = Iq; and compensating a torque by compensating the q axis current of the electric motor to adjust the rotation rate, where K is a coefficient, Iq is an actual output of the q axis current, Iq is a given output of the q axis current, and A n is a difference between an average of an actual rotation rate during current N cycles and an average of an actual rotation rate during N cycles before the current N cycles, N > 1.
In one embodiment, if yes, compensating a q axis current of the electric motor to adjust the rotation rate comprises: if the difference between the actual rotation rate and the objective rotation rate is greater than or equal to the predetermined value, judging whether A n > 0; if yes, Iq = Iq-K
* A n and otherwise Iq = Iq; and compensating a torque by compensating the q axis current of the electric motor to adjust the rotation rate, where K is a coefficient, Iq is an actual output of the q axis current, Iq is a given output of the q axis current, and A n is a difference between an average of an actual rotation rate during current N cycles and an average of an actual rotation rate during N cycles before the current N cycles, N > 1.
In one embodiment, N ranges from 32 to 128.
In one embodiment, K ranges from 0.05 to 0.2.
In one embodiment, the method further comprises: if the absolute value of the difference between the objective rotation rate and the actual rotation rate is less than the predetermined value, using a proportional integral method to adjust the rotation rate.
In one embodiment, the proportional integral method comprises: calculating a difference err(k) between the objective rotation rate and the actual rotation rate at a current time; and adjusting the rotation rate according to Out(k) = Out(k-l) + (Kp + Ki) * err(k), where Kp is a proportional coefficient, Ki is an integral coefficient, Out(k) is an actual rotation rate at the current time, and Out(k-l) is an actual rotation rate at a previous time.
With the method for controlling the rotation rate of the electric motor, a defect that when a variation of a load or a variation of the rotation rate is relative large, it will lead to a low response
or a large fluctuation of the rotation rate by only using the PI method is avoided. Therefore, even the variation of the load or the variation of the rotation rate is relatively large, the rotation rate can also vary rapidly with the variation of the load, which is particularly applicable for a system with high requirement on stability.
Additional aspects and advantages of the embodiments of the present disclosure will be given in part in the following descriptions, become apparent in part from the following descriptions, or be learned from the practice of the embodiments of the present disclosure.
BRIEF DESCRIPTION OF THE DRAWINGS
These and other aspects and advantages of the disclosure will become apparent and more readily appreciated from the following descriptions taken in conjunction with the drawings in which:
Fig. 1 is a flow chart of a method for controlling a rotation rate of an electric motor according to a first embodiment of the present disclosure; and
Fig. 2 is a flow chart of a method for controlling a rotation rate of an electric motor according to a second embodiment of the present disclosure.
DETAILED DESCRIPTION
Embodiments of the present disclosure will be described in detail in the following descriptions, examples of which are shown in the accompanying drawings, in which the same or similar elements and elements having same or similar functions are denoted by like reference numerals throughout the descriptions. The embodiments described herein with reference to the accompanying drawings are explanatory and illustrative, which are used to generally understand the present disclosure. The embodiments shall not be construed to limit the present disclosure.
A method for controlling a rotation rate of an electric motor is provided by an embodiment of the present disclosure. The method comprises following steps.
In step SI, it is judged that whether an absolute value of a difference between an objective rotation rate of the electric motor and an actual rotation rate of the electric motor is greater than or equal to a predetermined value.
In step S2, if yes, a q axis current Iq of the electric motor is compensated to adjust the rotation rate.
It is found that there is a relationship between a torque of the electric motor and the q axis current Iq of the electric motor, which may be represented by a formula. However, the relationship may be different for different types of electric motors, that is, there are different formulas. Therefore, controlling Iq is equivalent to controlling the torque, and the rotation rate is controlled accordingly. Thus, a compensation of the rotation rate may be realized by a compensation of Iq.
Now an AC (alternate current) electric motor is taken as an example to illustrate the relationship between the torque T and the q axis current Iq. The torque T of the AC electric motor may be represented by a formula: T = 1.5ρ[ Ψί* Iq + ( Ld - Lq) *Id* Iq)], where p is a number of a pole pair of the electric motor, Ψί is a magnetic linkage of the electric motor, Ld is an inductance of a d axis of the electric motor, Lq is an inductance of the q axis of the electric motor, and Id is a d axis current of the electric motor. It can be known from the formula that T is in linear proportion to Iq. Particularly, if Id = 0, T is in direct proportion to Iq.
With the method for controlling the rotation rate of the electric motor, a defect that when a variation of a load or a variation of the rotation rate is relatively large, it will lead to a low response or a large fluctuation of the rotation rate by only using the PI adjusting method is avoided. Therefore, even the variation of the load or the variation of the rotation rate is relatively large, the rotation rate can also vary rapidly according to the variation of the load, which is particularly useful to a system with high requirement on stability.
Specifically, in step S2, the q axis current Iq may be compensated according to
Iq ' = Iq -K * A n,
where K is a coefficient, Iq is an actual value of the q axis current, Iq is a given value of the q axis current, and A n is a difference between an average of an actual rotation rate during current N cycles and an average of an actual rotation rate during N cycles before the current N cycles, N > 1.
It should be noted that, the current N cycles refer to N cycles starting with a current cycle (denoted as M2N) and backtracking to an ΜΝ+Ιλ cycle, and the N cycles before the current N cycles refer to N cycles starting with an ΜΝλ cycle and backtracking to an ΜιΛ cycle. Taking N=64 as an example, the current N cycles refer to [M128 , Μδδ] , and the N cycles before the current N cycles refer to [Μδ4 > Mi ] , where M128 is the current cycle.
A value of N should be selected properly, because a too large N may lead to a hysteresis and offer no compensation effect, while a too small N may lead to a poor precision. In one embodiment, N may range from 32 to 128. Preferably, N=64. In one embodiment, K may range
from 0.05 to 0.2. Similarly, the predetermined value should be selected properly, because a too large predetermined value may not meet a requirement of rapid response, while a too small predetermined value may lead to a fluctuation. Preferably, the predetermined value may range from 100 r/min to 300 r/min.
A specific embodiment is described below to make the present disclosure be better understood by these skilled in the art. In this embodiment, as an example, the predetermined value takes 200 r/min.
Fig. 1 is a flow chart of a method for controlling the rotation rate of the electric motor according to a first embodiment of the present disclosure. As shown in Fig. 1, the method comprises following steps.
In step 11, it is judged whether an absolute value of a difference (Δν) between an objective rotation rate of the electric motor and an actual rotation rate of the electric motor is greater than or equal to 200 r/min.
In step 12, if yes, a q axis current Iq of the electric motor is compensated to adjust the rotation rate (for example, to realize a rapid response of the rotation rate), and the process is terminated.
In step 13, if no, a PI adjusting method is used to adjust the rotation rate.
It should be noted that, the PI adjustment may refer to any method in prior art for performing a PI adjustment on the rotation rate. In order to better understand the present disclosure, a specific PI adjusting method is shown as follows. This PI adjusting method may comprises following steps.
In step Al : a difference err(k) between the objective rotation rate and the actual rotation rate at a current time is calculated.
In step A2: the rotation rate is adjusted according to Out(k) = Out(k-l) + (Kp + Ki) * err(k), where Kp is a proportional coefficient, Ki is an integral coefficient, Out(k) is an actual rotation rate at the current time, and Out(k-l) is an actual rotation rate at a previous time. A specific value of Kp and Ki may be set according to practical requirement.
In this embodiment, Kp is mainly used for generating a direct proportion to the difference so as to rapidly reduce the difference. However, a steady state error will exist with only the direct proportion, so an integral (i.e., Ki) is required to eliminate the steady state error.
In this embodiment, Kp and Ki may be selected by giving preference to proportion. Firstly, Ki is given a value of zero; secondly, the objective rotation rate is modified (for example, make the objective rotation rate change greatly); thirdly, different Kps are tried to choose one Kp with which
the actual rotation rate may rapidly fluctuate around the objective rotation rate; fourthly, Ki is used. It should be noted that, Ki does not need to be too large, and because the integral acts on a time axis, an integration period needs to be selected. When the actual rotation rate may rapidly fluctuate around the objective rotation rate and a fluctuation value is relatively small, the current Kp and Ki may be considered qualified.
Fig. 2 is a flow chart of a method for controlling the rotation rate of the electric motor according to a second embodiment of the present disclosure. As shown in Fig. 2, the method comprises following steps.
In step 21, it is judged that whether an absolute value of a difference (Δν) between an objective rotation rate of the electric motor and an actual rotation rate of the electric motor is greater than or equal to 200 r/min. If yes, step 22 or step 23 is performed; and otherwise, step 28 is performed.
In step 22, if the difference between the objective rotation rate and the actual rotation rate is greater than or equal to 200 r/min, step 24 is performed.
In step 23, if the difference between the actual rotation rate and the objective rotation rate is greater than or equal to 200 r/min, step 25 is performed.
In step 24, it is judged whether Δ η < 0; if yes, step 26 is performed, and otherwise step 27 is performed.
In step 25, it is judged whether Δ η > 0; if yes, step 26 is performed, and otherwise step 27 is performed.
In step 26, Iq ' = Iq -K * Δ n, and the process is terminated.
In step 27, Iq' = Iq, and the process is terminated.
In step 28, a PI adjusting method is used to adjust the rotation rate.
In this embodiment, K is a coefficient, Iq ' is an actual output of the q axis current, Iq is a given output of the q axis current, and Δ n is a difference between an average of an actual rotation rate during current N cycles and an average of an actual rotation rate during N cycles before the current N cycles, N > 1. It should be noted that, as to explanations about these parameters (such as K, N, Δ η), please refer to relevant descriptions hereinbefore.
This embodiment shows an improved technical solution based on the first embodiment. In this second embodiment, a step of judging Δ η < 0 or Δ η > 0 is included, which is for preventing an incorrect instruction resulted from a program fault. The undue instruction may reduce the rapid
response of the rotation rate. For example, if the difference between the objective rotation rate and the actual rotation rate is greater than the predetermined value, A n is supposed to be less than 0. However, A n may be actually greater than or equal to 0 because of the program fault. Therefore, in order to prevent the incorrect instruction resulted from the program fault, the q axis current may not be adjusted, that is Iq' = Iq.
Reference throughout this specification to "an embodiment", "some embodiments", "one embodiment", "an example", "a specific examples", or "some examples" means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the disclosure. Thus, the appearances of the phrases such as "in some embodiments", "in one embodiment", "in an embodiment", "an example", "a specific examples", or "some examples" in various places throughout this specification are not necessarily referring to the same embodiment or example of the disclosure. Furthermore, the particular features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.
Although explanatory embodiments have been shown and described, it would be appreciated by those skilled in the art that changes, alternatives, and modifications may be made in the embodiments without departing from spirit and principles of the disclosure. Such changes, alternatives, and modifications all fall into the scope of the claims and their equivalents.
Claims
1. A method for controlling a rotation rate of an electric motor, comprising:
judging whether an absolute value of a difference between an objective rotation rate of the electric motor and an actual rotation rate of the electric motor is greater than or equal to a predetermined value; and
if yes, compensating a q axis current of the electric motor to adjust the rotation rate.
2. The method according to claim 1, wherein the predetermined value ranges from lOOr/min to 300r/min.
3. The method according to claim 1 or 2, wherein compensating a q axis current of the electric motor to adjust the rotation rate comprises:
compensating a q axis current of the electric motor according to Iq ' = Iq -K * A n,
where K is a coefficient, Iq ' is an actual value of the q axis current, Iq is a given value of the q axis current, and A n is a difference between an average of an actual rotation rate during current N cycles and an average of an actual rotation rate during N cycles before the current N cycles, N > 1; and
compensating a torque by compensating the q axis current of the electric motor to adjust the rotation rate.
4. The method according to claim 1 or 2, wherein if yes, compensating a q axis current of the electric motor to adjust the rotation rate comprises:
if the difference between the objective rotation rate and the actual rotation rate is greater than or equal to the predetermined value, judging whether A n < 0;
if yes, Iq = Iq-K * A n and otherwise Iq = Iq; and compensating a torque by compensating the q axis current of the electric motor to adjust the rotation rate,
where K is a coefficient, Iq ' is an actual output of the q axis current, Iq is a given output of the q axis current, and A n is a difference between an average of an actual rotation rate during current N cycles and an average of an actual rotation rate during N cycles before the current N cycles, N > 1.
5. The method according to claim 1 or 2, wherein if yes, compensating a q axis current of the electric motor to adjust the rotation rate comprises:
if the difference between the actual rotation rate and the objective rotation rate is greater than or equal to the predetermined value, judging whether Δ n > 0;
if yes, Iq = Iq-K * Δ n and otherwise Iq = Iq; andcompensating a torque by compensating the q axis current of the electric motor to adjust the rotation rate,
where K is a coefficient, Iq ' is an actual output of the q axis current, Iq is a given output of the q axis current, and Δ n is a difference between an average of an actual rotation rate during current N cycles and an average of an actual rotation rate during N cycles before the current N cycles, N > 1.
6. The method according to any one of claims 3-5, wherein N ranges from 32 to 128.
7. The method according to any one of claims 3-5, wherein K ranges from 0.05 to 0.2.
8. The method according to any one of claims 1-7, further comprising:
if the absolute value of the difference between the objective rotation rate and the actual rotation rate is less than the predetermined value, using a proportional integral method to adjust the rotation rate.
9. The method according to claim 7, wherein the proportional integral method comprises: calculating a difference err(k) between the objective rotation rate and the actual rotation rate at a current time; and
adjusting the rotation rate according to Out(k) = Out(k-l) + (Kp + Ki) * err(k),
where Kp is a proportional coefficient, Ki is an integral coefficient, Out(k) is an actual rotation rate at the current time, and Out(k-l) is an actual rotation rate at a previous time.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP13767963.5A EP2831995A4 (en) | 2012-03-27 | 2013-03-26 | Method for controlling rotation rate of electric motor |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201210083802.4A CN103368474B (en) | 2012-03-27 | 2012-03-27 | A kind of motor speed control method |
CN201210083802.4 | 2012-03-27 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2013143439A1 true WO2013143439A1 (en) | 2013-10-03 |
Family
ID=49234004
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2013/073189 WO2013143439A1 (en) | 2012-03-27 | 2013-03-26 | Method for controlling rotation rate of electric motor |
Country Status (4)
Country | Link |
---|---|
US (1) | US9018875B2 (en) |
EP (1) | EP2831995A4 (en) |
CN (1) | CN103368474B (en) |
WO (1) | WO2013143439A1 (en) |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105305893B (en) * | 2015-10-14 | 2019-01-18 | 重庆长安汽车股份有限公司 | Electric car, the suppressing method of the permanent magnet synchronous motor fluctuation of speed and inhibition system |
CN106374432B (en) * | 2016-09-14 | 2019-06-14 | 广州视源电子科技股份有限公司 | Synchronous motor step-out detection method and device |
CN106411207B (en) * | 2016-11-25 | 2018-09-11 | 安徽江淮汽车集团股份有限公司 | A kind of motor speed control method and system |
CN106953555A (en) * | 2017-04-21 | 2017-07-14 | 郑州飞机装备有限责任公司 | The electric space vehicle control method of permagnetic synchronous motor driving |
CN107432715B (en) * | 2017-09-08 | 2021-03-23 | 广东威灵电机制造有限公司 | Dust collector, motor and control method and control device of motor |
CN108390603B (en) * | 2018-03-08 | 2019-12-31 | 深圳市道通智能航空技术有限公司 | Motor control method and device and unmanned aerial vehicle control system |
CN111987964B (en) * | 2019-05-22 | 2022-04-26 | 中车株洲电力机车研究所有限公司 | Management method and system for position-sensorless control system and related components |
CN110339053B (en) * | 2019-07-03 | 2022-01-14 | 厦门伊亚创新科技有限公司 | Intelligent speed regulation method and device of massage gun and massage gun |
CN114665776B (en) * | 2022-05-23 | 2023-01-03 | 深圳市杰美康机电有限公司 | Control method and system for dynamic decoupling of closed-loop stepping motor and storage medium |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4361794A (en) * | 1979-12-11 | 1982-11-30 | Fujitsu Fanuc Limited | Induction motor drive apparatus |
JP2005192267A (en) * | 2003-12-24 | 2005-07-14 | Matsushita Electric Ind Co Ltd | Motor driving unit |
CN101505135A (en) * | 2009-03-09 | 2009-08-12 | 天津大学 | Controllable flux permanent magnet synchronous motor driving apparatus for built-in mixed rotor |
JP2011239541A (en) * | 2010-05-10 | 2011-11-24 | Canon Inc | Motor controlling device and motor controlling method |
CN102315814A (en) * | 2010-06-30 | 2012-01-11 | 比亚迪股份有限公司 | Motor vector control method based on Hall position sensor |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3262709B2 (en) * | 1996-04-25 | 2002-03-04 | 三菱電機株式会社 | Motor vector control method and vector control inverter device |
US6822417B2 (en) * | 2002-03-22 | 2004-11-23 | Matsushita Electric Industrial Co., Ltd. | Synchronous reluctance motor control device |
JP2006288076A (en) * | 2005-03-31 | 2006-10-19 | Toshiba Elevator Co Ltd | Control unit |
KR100676255B1 (en) * | 2005-06-03 | 2007-02-01 | 삼성전자주식회사 | Apparatus for controlling speed in vector controlled an ac motor |
JP5207232B2 (en) * | 2007-11-16 | 2013-06-12 | 住友建機株式会社 | Swivel drive control device and construction machine including the same |
JP4631936B2 (en) * | 2008-06-18 | 2011-02-16 | トヨタ自動車株式会社 | POWER OUTPUT DEVICE, ITS CONTROL METHOD, AND VEHICLE |
JP5297126B2 (en) * | 2008-09-11 | 2013-09-25 | 本田技研工業株式会社 | Electric power steering device |
JP5256009B2 (en) * | 2008-12-12 | 2013-08-07 | 日立アプライアンス株式会社 | Magnet motor speed control device |
JP5235757B2 (en) * | 2009-04-03 | 2013-07-10 | 三菱電機株式会社 | Engine starter for idling stop vehicle |
US8698433B2 (en) * | 2009-08-10 | 2014-04-15 | Emerson Climate Technologies, Inc. | Controller and method for minimizing phase advance current |
-
2012
- 2012-03-27 CN CN201210083802.4A patent/CN103368474B/en active Active
-
2013
- 2013-03-13 US US13/800,823 patent/US9018875B2/en active Active
- 2013-03-26 WO PCT/CN2013/073189 patent/WO2013143439A1/en active Application Filing
- 2013-03-26 EP EP13767963.5A patent/EP2831995A4/en not_active Withdrawn
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4361794A (en) * | 1979-12-11 | 1982-11-30 | Fujitsu Fanuc Limited | Induction motor drive apparatus |
JP2005192267A (en) * | 2003-12-24 | 2005-07-14 | Matsushita Electric Ind Co Ltd | Motor driving unit |
CN101505135A (en) * | 2009-03-09 | 2009-08-12 | 天津大学 | Controllable flux permanent magnet synchronous motor driving apparatus for built-in mixed rotor |
JP2011239541A (en) * | 2010-05-10 | 2011-11-24 | Canon Inc | Motor controlling device and motor controlling method |
CN102315814A (en) * | 2010-06-30 | 2012-01-11 | 比亚迪股份有限公司 | Motor vector control method based on Hall position sensor |
Non-Patent Citations (1)
Title |
---|
See also references of EP2831995A4 * |
Also Published As
Publication number | Publication date |
---|---|
US20130257325A1 (en) | 2013-10-03 |
EP2831995A4 (en) | 2015-11-25 |
US9018875B2 (en) | 2015-04-28 |
CN103368474A (en) | 2013-10-23 |
CN103368474B (en) | 2015-12-02 |
EP2831995A1 (en) | 2015-02-04 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US9018875B2 (en) | Method for controlling rotation rate of electric motor | |
CN104917435B (en) | Startup control method, device, motor and the compressor of motor | |
JP5250979B2 (en) | Control device for electric power steering device | |
CN109756166B (en) | Parameter setting method for dual closed-loop vector control PI (proportional integral) regulator of permanent magnet synchronous motor | |
CN109462352B (en) | Motor control method, device and computer readable storage medium | |
KR101829926B1 (en) | Position error compensation method of drive motor for vehicle | |
CN112671300B (en) | Vehicle permanent magnet synchronous motor vector control method based on direct current power | |
CN112688610B (en) | Vector flux weakening control method for vehicle permanent magnet synchronous motor | |
WO2016000215A1 (en) | Method for suppressing fluctuations in speed, control device and compressor control system | |
EP3161310B1 (en) | Wind turbine controller with pitch feedback control loop in partial load | |
WO2014084009A1 (en) | Electric motor control device | |
CN108649851B (en) | Maximum torque current ratio control method for permanent magnet synchronous motor | |
JP5416183B2 (en) | Control device for permanent magnet synchronous motor | |
JP2010130853A (en) | Motor controller and method for detecting change in resistance value of motor winding | |
CN113014167A (en) | Permanent magnet motor nonsingular terminal sliding mode control method based on disturbance observer | |
JP4857893B2 (en) | Elevator control device | |
JP2010035396A (en) | Battery current suppression method and battery current suppression controller | |
CN109861611B (en) | Error compensation system and method for position sensor of permanent magnet synchronous motor | |
CN115580190A (en) | Motor control method and device, model building method and electrical equipment | |
KR101991257B1 (en) | Control apparatus for dual winding motor and method thereof | |
WO2015156003A1 (en) | Vector control device, inverter embedding same, and inverter-motor set device embedding same | |
JP5724737B2 (en) | Rotating machine control device | |
KR101883006B1 (en) | Motor control method of inverter | |
JP2012105403A (en) | Control device for rotating machine | |
JP2011078192A (en) | Controller for motor |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 13767963 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2013767963 Country of ref document: EP |